#include <khi_robot_krnx_driver.h>
Public Member Functions | |
bool | activate (const int &cont_no, KhiRobotData &data) override |
bool | close (const int &cont_no) override |
bool | commandHandler (khi_robot_msgs::KhiRobotCmd::Request &req, khi_robot_msgs::KhiRobotCmd::Response &res) override |
bool | deactivate (const int &cont_no, const KhiRobotData &data) override |
bool | getPeriodDiff (const int &cont_no, double &diff) override |
bool | hold (const int &cont_no, const KhiRobotData &data) override |
bool | initialize (const int &cont_no, const double &period, KhiRobotData &data, const bool in_simulation=false) override |
KhiRobotKrnxDriver () | |
bool | open (const int &cont_no, const std::string &ip_address, KhiRobotData &data) override |
bool | readData (const int &cont_no, KhiRobotData &data) override |
bool | setState (const int &cont_no, const int &state) |
bool | updateState (const int &cont_no, const KhiRobotData &data) override |
bool | writeData (const int &cont_no, const KhiRobotData &data) override |
~KhiRobotKrnxDriver () | |
Public Member Functions inherited from khi_robot_control::KhiRobotDriver | |
bool | contLimitCheck (const int &cont_no, const int &limit) |
void | errorPrint (const char *format,...) |
int | getState (const int &cont_no) |
std::string | getStateName (const int &cont_no) |
int | getStateTrigger (const int &cont_no) |
void | infoPrint (const char *format,...) |
bool | isTransitionState (const int &cont_no) |
void | jointPrint (std::string name, const KhiRobotData &data) |
KhiRobotDriver () | |
bool | setState (const int &cont_no, const int &state) |
bool | setStateTrigger (const int &cont_no, const int &state_trigger) |
void | warnPrint (const char *format,...) |
virtual | ~KhiRobotDriver () |
Private Member Functions | |
bool | conditionCheck (const int &cont_no, const KhiRobotData &data) |
int | execAsMonCmd (const int &cont_no, const char *cmd, char *buffer, int buffer_sz, int *as_err_code) |
bool | getCurMotionData (const int &cont_no, const int &robot_no, TKrnxCurMotionData *p_motion_data) |
bool | loadDriverParam (const int &cont_no, KhiRobotData &data) |
bool | loadRtcProg (const int &cont_no, const std::string &name) |
bool | retKrnxRes (const int &cont_no, const std::string &name, const int &ret, const bool error=true) |
bool | setRobotDataHome (const int &cont_no, KhiRobotData &data) |
std::vector< std::string > | splitString (const std::string &str, const char &del) |
bool | syncRtcPos (const int &cont_no, KhiRobotData &data) |
Private Attributes | |
char | cmd_buf [KRNX_MSGSIZE] |
char | msg_buf [KRNX_MSGSIZE] |
std::mutex | mutex_state [KRNX_MAX_CONTROLLER] |
KhiRobotKrnxRtcData | rtc_data [KRNX_MAX_CONTROLLER] |
int | sw_dblrefflt [KRNX_MAX_CONTROLLER] |
Additional Inherited Members | |
Protected Attributes inherited from khi_robot_control::KhiRobotDriver | |
KhiRobotControllerInfo | cont_info [KHI_MAX_CONTROLLER] |
std::string | driver_name |
int | error_code |
bool | in_simulation |
int | return_code |
Definition at line 60 of file khi_robot_krnx_driver.h.
khi_robot_control::KhiRobotKrnxDriver::KhiRobotKrnxDriver | ( | ) |
Definition at line 48 of file khi_robot_krnx_driver.cpp.
khi_robot_control::KhiRobotKrnxDriver::~KhiRobotKrnxDriver | ( | ) |
Definition at line 58 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 248 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 218 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 923 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 112 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 408 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 80 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 602 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 777 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 392 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 163 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 446 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 833 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 178 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
public read function
Implements khi_robot_control::KhiRobotDriver.
Definition at line 529 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 97 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 611 of file khi_robot_krnx_driver.cpp.
bool khi_robot_control::KhiRobotKrnxDriver::setState | ( | const int & | cont_no, |
const int & | state | ||
) |
Definition at line 73 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 815 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 902 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
Implements khi_robot_control::KhiRobotDriver.
Definition at line 728 of file khi_robot_krnx_driver.cpp.
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overridevirtual |
public write function
Implements khi_robot_control::KhiRobotDriver.
Definition at line 650 of file khi_robot_krnx_driver.cpp.
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private |
Definition at line 81 of file khi_robot_krnx_driver.h.
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private |
Definition at line 82 of file khi_robot_krnx_driver.h.
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private |
Definition at line 84 of file khi_robot_krnx_driver.h.
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private |
Definition at line 87 of file khi_robot_krnx_driver.h.
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private |
Definition at line 83 of file khi_robot_krnx_driver.h.